Rename all instances of stop tactic to halt tactic

[vladakozachok]

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Description

Testing Done

Resolved Issues

resolves #2630

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [x] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[nimazareian]

@vladakozachok Could you pull from master? There seems to be some conflicts. Also, I think Arun still has one outstanding comment.

[nimazareian]

@vladakozachok Apologies for being slow in reviewing this PR, but there seems to be another conflict. Feel free to ping us here or on Discord once it's ready so we can try to review it before more conflicts.

[itsarune]

Stale, closing. Feel free to reopen once merged with master.